conda-forge-ci.yml

name: C++ CI Workflow with conda-forge dependencies

on:
  push:
    branches:
    - master
  pull_request:
  schedule:
  # * is a special character in YAML so you have to quote this string
  # Execute a "nightly" build at 2 AM UTC
  - cron:  '0 2 * * *'

# Workaround for https://github.com/conda-forge/mumps-feedstock/issues/125
# and https://github.com/conda-forge/mumps-feedstock/pull/126#issuecomment-2355357834
env:
  OMP_NUM_THREADS: 1

jobs:
  build:
    name: '[${{ matrix.os }}@${{ matrix.build_type }}@conda]'
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
        build_type: [Release]
        os: [ubuntu-latest, windows-2019, macos-latest]
      fail-fast: false

    steps:
    - uses: actions/checkout@v4

    - uses: conda-incubator/setup-miniconda@v2
      with:
        miniforge-variant: Miniforge3
        miniforge-version: latest
        channels: conda-forge,robostack-staging
        channel-priority: true

    - name: Dependencies
      shell: bash -l {0}
      run: |
        # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
        conda config --remove channels defaults
        # Dependencies
        conda install cmake compilers make ninja pkg-config \
                      "idyntree>=12.2.1" "yarp>=3.5.0" libmatio libmatio-cpp librobometry \
                      liblie-group-controllers eigen qhull "casadi>=3.5.5" cppad spdlog \
                      nlohmann_json manif manifpy pybind11 numpy pytest scipy opencv pcl \
                      tomlplusplus libunicycle-footstep-planner "icub-models>=1.23.4" \
                      ros-humble-rclcpp onnxruntime-cpp libbayes-filters-lib cmake-package-check catch2

    - name: Linux-only Dependencies [Linux]
      if: contains(matrix.os, 'ubuntu')
      shell: bash -l {0}
      run: |
        conda install manifpy mesa-libgl-devel-cos7-x86_64

    - name: Windows-only Dependencies [Windows]
      if: contains(matrix.os, 'windows')
      shell: bash -l {0}
      run: |
        conda install vs2019_win-64

    - name: Windows-workarounds [Windows]
      if: contains(matrix.os, 'windows')
      shell: cmd /C CALL {0}
      run: |
        :: We delete all the Python executables installed by GitHub Actions as a workaround for https://github.com/ami-iit/bipedal-locomotion-framework/pull/910#issuecomment-2589862552
        :: once that is not necessary anymore, remove this
        rmdir /s /q C:\hostedtoolcache\windows\Python
        :: Due to this https://github.com/conda-forge/icub-models-feedstock/issues/18
        :: pcl is removed as a workaround for https://github.com/ami-iit/bipedal-locomotion-framework/pull/695#issuecomment-1632208836
        :: pcl can be re-added once we have a ros humble build compatible with PCL 1.13.0
        :: pybind11 constrained as workaround for https://github.com/conda-forge/pybind11-feedstock/issues/95
        conda install "pybind11<2.12.0"
        conda remove icub-models pcl

    - name: Print used environment
      shell: bash -l {0}
      run: |
        conda list
        env

    - name: Configure [Linux&macOS]
      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
      shell: bash -l {0}
      run: |
        mkdir -p build
        cd build
        cmake -GNinja -DBUILD_TESTING:BOOL=ON -DFRAMEWORK_COMPILE_IK:BOOL=OFF -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
              -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DUSE_SYSTEM_Catch2:BOOL=ON -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..

    - name: Build [Linux&macOS]
      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
      shell: bash -l {0}
      run: |
        cd build
        cmake --build . --config ${{ matrix.build_type }}

    - name: Test [Linux&macOS]
      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
      shell: bash -l {0}
      run: |
        cd build
        ctest --output-on-failure -C ${{ matrix.build_type }}

    - name: Configure [Windows]
      if: contains(matrix.os, 'windows')
      shell: cmd /C call {0}
      run: |
        mkdir -p build
        cd build
        cmake -GNinja -DBUILD_TESTING:BOOL=ON -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=ON -DUSE_SYSTEM_Catch2:BOOL=ON -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..

    - name: Build [Windows]
      if: contains(matrix.os, 'windows')
      shell: cmd /C call {0}
      run: |
        cd build
        cmake --build . --config ${{ matrix.build_type }}

    - name: Test [Windows]
      if: contains(matrix.os, 'windows')
      shell: cmd /C call {0}
      run: |
        cd build
        ctest --output-on-failure -C ${{ matrix.build_type }}

    - name: Install and test installed package
      shell: bash -l {0}
      run: |
        cd build
        cmake --install . --config ${{ matrix.build_type }}
        cmake-package-check BipedalLocomotionFramework --targets BipedalLocomotion::Framework